...added getMotorRPM Function

DShotRMT.cpp

@@ -96,6 +96,8 @@ void DShotRMT::setThrottle(uint16_t throttle)
 // --- Get eRPM from ESC ---
 // Receives and decodes a response frame from ESC containing eRPM info
 uint32_t DShotRMT::getERPM()
+{
+    if (_isBidirectional)
     {
         static size_t rx_size = sizeof(_rx_symbols);
 
@@ -149,6 +151,21 @@ uint32_t DShotRMT::getERPM()
         _last_erpm = throttle * 100;
         return _last_erpm;
     }
+    // Nothing to do here
+    return _last_erpm;
+}
+
+// Translate eRPM value to RPM taking magnet count as parameter
+uint32_t DShotRMT::getMotorRPM(uint8_t magnet_count)
+{
+    uint8_t pole_count = magnet_count / 2;
+
+    if (pole_count == 0)
+        pole_count = 1;
+
+    uint32_t rpm = getERPM() / pole_count;
+    return rpm;
+}
 
 // --- Encode DShot TX Frame ---
 // Converts a 16-bit packet into a valid DShot Frame for RMT

DShotRMT.h

@@ -55,19 +55,17 @@ public:
     // Initializes the RMT TX and RX channels
     void begin();
 
-    // Sets a new throttle value (0-2047) and sends it repeatedly
+    // Sets a new throttle value (48-2047) and sends it repeatedly
     void setThrottle(uint16_t throttle);
 
-    // Receives and decodes the latest eRPM value from ESC, if available
+    // Receives and decodes the latest value from ESC, if available
     uint32_t getERPM();
+    uint32_t getMotorRPM(uint8_t magnet_count);
 
     // Accessors for GPIO and DShot mode
     gpio_num_t getGPIO() const { return _gpio; }
     dshot_mode_t getDShotMode() const { return _mode; }
 
-    // Stores the last valid eRPM received from the ESC
-    uint32_t _last_erpm = 0;
-
 private:
     // Converts a 16-bit DShot packet into RMT symbols and appends pause
     void encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count);
@@ -96,4 +94,7 @@ private:
     // --- RMT Symbol Buffer ---
     rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE] = {};
     rmt_symbol_word_t _tx_symbols[TX_BUFFER_SIZE] = {};
+
+    // Stores the last valid eRPM received from the ESC
+    uint32_t _last_erpm = 0;
 };

examples/dshot300/dshot300.ino

@@ -20,6 +20,9 @@ constexpr auto DSHOT_MODE = DSHOT300;
 // BiDirectional DShot Support (default: false)
 constexpr auto IS_BIDIRECTIONAL = true;
 
+// Motor Magnet count for RPM calculation
+constexpr auto MOTOR01_MAGNET_COUNT = 14;
+
 // Setup Motor Pin, DShot Mode and optional BiDirectional Support
 DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
 
@@ -58,12 +61,12 @@ void loop()
     {
       last_print_time = now;
 
-      uint32_t erpm = motor01.getERPM();
+      uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
 
-      USB_Serial.print("Sent Throttle: ");
+      USB_Serial.print("Throttle: ");
       USB_Serial.print(throttle_input);
-      USB_Serial.print(" | eRPM: ");
+      USB_Serial.print(" | RPM: ");
-      USB_Serial.println(erpm);
+      USB_Serial.println(rpm);
     }
   }
 }